Structure to hold the parameters of a pinhole stereo camera model.
The parameters obtained for one camera resolution can be used for any other resolution by means of the method TStereoCamera::scaleToResolution()
Definition at line 25 of file TStereoCamera.h.
#include <mrpt/utils/TStereoCamera.h>
Public Member Functions | |
TStereoCamera () | |
void | saveToConfigFile (const std::string §ion, mrpt::utils::CConfigFileBase &cfg) const |
Save all params to a plain text config file in this format: More... | |
void | loadFromConfigFile (const std::string §ion, const mrpt::utils::CConfigFileBase &cfg) |
Load all the params from a config source, in the same format that used in saveToConfigFile(). More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string §ion) |
std::string | dumpAsText () const |
Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile. More... | |
void | scaleToResolution (unsigned int new_ncols, unsigned int new_nrows) |
Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted). More... | |
Public Attributes | |
TCamera | leftCamera |
TCamera | rightCamera |
Intrinsic and distortion parameters of the left and right cameras. More... | |
mrpt::poses::CPose3DQuat | rightCameraPose |
Pose of the right camera with respect to the coordinate origin of the left camera. More... | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef TStereoCameraPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_TStereoCamera |
static mrpt::utils::TRuntimeClassId | classTStereoCamera |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static TStereoCameraPtr | Create () |
A typedef for the associated smart pointer
Definition at line 27 of file TStereoCamera.h.
mrpt::utils::TStereoCamera::TStereoCamera | ( | ) |
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std::string mrpt::utils::TStereoCamera::dumpAsText | ( | ) | const |
Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.
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Definition at line 67 of file TStereoCamera.h.
References loadFromConfigFile().
Referenced by loadFromConfigFile().
void mrpt::utils::TStereoCamera::loadFromConfigFile | ( | const std::string & | section, |
const mrpt::utils::CConfigFileBase & | cfg | ||
) |
Load all the params from a config source, in the same format that used in saveToConfigFile().
Notice that 3 different sections are read, of which "section" is only the prefix.
std::exception | on missing fields |
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void mrpt::utils::TStereoCamera::saveToConfigFile | ( | const std::string & | section, |
mrpt::utils::CConfigFileBase & | cfg | ||
) | const |
Save all params to a plain text config file in this format:
Notice that 3 different sections are read, of which "section" is only the prefix.
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inline |
Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).
Definition at line 74 of file TStereoCamera.h.
References mrpt::utils::TCamera::scaleToResolution().
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Definition at line 27 of file TStereoCamera.h.
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Definition at line 27 of file TStereoCamera.h.
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Definition at line 27 of file TStereoCamera.h.
TCamera mrpt::utils::TStereoCamera::leftCamera |
Definition at line 29 of file TStereoCamera.h.
TCamera mrpt::utils::TStereoCamera::rightCamera |
Intrinsic and distortion parameters of the left and right cameras.
Definition at line 29 of file TStereoCamera.h.
mrpt::poses::CPose3DQuat mrpt::utils::TStereoCamera::rightCameraPose |
Pose of the right camera with respect to the coordinate origin of the left camera.
Definition at line 30 of file TStereoCamera.h.
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